SU1701160A1 - Automatic fruit gathering machine - Google Patents

Abstract

FIELD OF THE INVENTION The invention relates to agricultural machinery, in particular, to means of automated fruit harvesting. The purpose of the invention is to increase productivity, reliability and increase technological capabilities. The machine for automated harvesting, mounted on a self-propelled chassis, contains a rack 1 with anthropomorphic manipulators 7, a transmission and distribution mechanism 10, a store 12 with a stepper conveyor 13, television cameras and a mini-computer. When the machine is turned on, the power source 4 is turned on, and the image of the fruit is recognized by means of television cameras and a mini-computer. After calculating the cycle of operation, anthropomorphic manipulators 19 collect fruits, place them, put 10 stepper conveyors 13 installed in the store 12, and ensure the unloading of fruit boxes into the delivery and distribution mechanism. 3 hp f-ly, 17 ill. (L

Description

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Claims (4)

Claim 1. A machine for automated fruit harvesting, comprising a vehicle and a manipulator, a control system provided with a first television camera connected through a computer conversion unit, the output buses of which are connected to the actuators of the manipulator with a working brush by means of corresponding blocks, characterized in that, in In order to increase labor productivity and increase technological capabilities, it is equipped with a second television camera, transmission and distribution mechanism, multi-tiered a storage magazine for filled and empty containers, equipment for controlling the filling of boxes and the sound signal, matching device, proximity sensors and a tactile sensor, combined with the working brush of the manipulator mechanism, which is multi-link, and the second television camera is connected to the computer via its input ports, and the computer through the output ports is connected to the signal inputs of the comparators and to the group of control valves of the manipulator, the outputs of which are through the angle sensors The inputs are connected to the threshold inputs of the comparators, and their outputs are connected to the input ports, while the other outputs of the output ports are connected to a group of pneumatic distributors of the manipulator brush, which are connected via input through a tactile sensor to the input ports, and a number of other output ports are respectively connected to groups of store hydraulic distributors - the drive and the moving and stopping bodies of the machine, with equipment for controlling the filling of the box and issuing an audio signal, as well as with a near-location sensor, made in the form of an optical object with P C-matrix, connected in parallel in one circuit television camera through the circuit breaker. 2. The machine according to claim 1, characterized in that. that the transmission and distribution mechanism and the magazine store are equipped with step conveyors interconnected with hydraulic control cylinders using electromagnetic spools connected to the computer output ports. 3. The machine according to claim 1, characterized in that the anthropomorphic hand mechanism is made in the form of a hollow elastic polymer brush with fingers, the outer wall of which has a corrugated shape, and a tactile sensor closed by an elastic polymer cap is installed on its palm part, and the brush is installed with the ability to rotate around the axis of the last link of the manipulator. 4. The machine according to claim 1, characterized in that the working brush is removable in the form of a stripping device, in the form of an oval frame, on the front side of which there are stripping teeth located at an angle to the working plane, and a container for accumulating fruits is fixed around the perimeter. Fig I bit * sz * pUp a with a d ^& 'Vr - Vr'up Uz ^ = y _n = Un-1 finite difference 1st order const linear function FIG. 10 FIG. I MSB M2B Fig.13